Inside processing apparatus

ABSTRACT

The present invention relates to an inside processing apparatus for performing operation of cleaning, grinding, cutting and the like toward an inside of piping of a water pipe, a gas pipe, a wire pipe and the like. The said inside processing apparatus is constituted by processing a working head having the working member (tool) for performing a fixed work on the cylindrical wall surface, a driving mechanism for moving the said working member in the circumferential direction of cylindrical wall surface and a cutting controlling mechanism for controlling a quantity of the movement in company with a fact that the said working head is moved in the radial direction of cylindrical wall surface by the said driving mechanism. &lt;IMAGE&gt;

FIELD OF THE INVENTION

The present invention relates to an inside processing apparatus forperforming operations of cleaning, grinding, cutting and the like towardan inside of piping of an up-and-down water pipe laid under the ground,a gas pipe, a wire pipe and the like or an inside of tunnel and thelike, further an inside of steel pipe, a cylindrical face formed insteel ingot and the like.

DESCRIPTION OF THE PRIOR ART

At the present time, a concrete pipe, a steel pipe, an earthen pipe andthe like having various diameter are laid under ground as up-and-downwater pipe, a gas pipe, a wire pipe in the ground. Also, a steel pipepile, a steel pipe-sheet pile and the like are used in the job site ofcivil engineering works.

The construction works including maintenance, repair, improvement orwithdrawal and the like are performed in regard to the above-mentionedvarious pipes. At this time, it becomes necessary that the processing inresponse to the purpose of respective construction works in the insideof pipe is given, therefore various pipe interior working machine inresponse to the purpose of construction works are offered.

Considering the works in regard to a sewerage pipe and the like forexample, there are removing works of root of tree and the like which arepenetrated into an inside from a joint of pipeline and are removingworks and the like of earth and sand attached to an inner wall ofpipeline and rust and the like. Also, considering the works in regard toa steel pipe pile, a steel pipe-sheet pile and the like, there is acutting work on the occasion which these steel pipes are withdrawn.

Recently, a method of construction for repairing a portion of thesewerage pipe toward the said sewerage pipe and the like which arecorroded or destroyed partially has been developed. In this method ofconstruction, grooves having a fixed depth are formed at both sides inthe axial direction of the repairing portion, and a plastic lining isperformed by regarding the said groove as a cardinal point.

It is plentiful that the working machine which is offered in order toperform the works an mentioned above is the so-called single capacitymachine which the respective functions are fixed, and the toolsincluding wire brush, milling cutter, end mill and the like are moved inthe radial direction of pipeline by an oil pressure cylinder and thelike in response to the purposive workings as well as it is plentifulthat the said machine in constituted so as to rotate in thecircumferential direction by regarding an axial center of the workingmachine as a center.

For example, in the case which the processings of groove and the likeare performed in the inner wall of pipe by using the end mill on theoccasion of a partial repair of pipeline, it becomes necessary that theend mill is moved in the radial direction in response to the insidediameter of pipe and the depth of groove to be processed. But, itbelongs to a difficult technique that a rod of the oil pressure cylinderis stopped in the middle of the stroke by controlling accurately aquantity of the pressure oil which is supplied in the said cylinder.Consequently, it is difficult that a depth of the said groove isadministered accurately, and an apprehension which an obstacle isgenerated in the execution of the plastic lining in regard to thepipeline is in existence.

In the machine for working the interior of pipe as mentioned above, thedevelopment of the processing apparatus which has the compound functionsand can establish accurately a quantity of the movement of the tooltoward a radial direction of the pipeline has been desired.

SUMMARY OF THE INVENTION

A principal purpose of the present invention is to provide an insideprocessing apparatus which can perform plural works in regard to aninside of pipe.

Further, an other purpose is to provide an inside processing apparatuswhich a quantity of movement of the tool in regard to a radial directionof pipeline can be established accurately.

Therefore, in order to accomplish these purposes, the inside processingapparatus in accordance with the present invention is constituted byprocessing a working head having the working member (tool) forperforming a fixed work on the cylindrical wall surface, a drivingmechanism for moving the said working member in the circumferentialdirection of cylindrical wall surface and a cutting controllingmechanism for controlling a quantity of the movement in company with afact that the said working head is moved in the radial direction ofcylindrical wall surface by the said driving mechanism.

In the above-mentioned inside processing apparatus, the working head isconstituted by a circular cam which has a center in the positionseparated at a fixed distance from an axial center of the insideprocessing apparatus and rotates and moves by regarding an axial centerof the inside processing apparatus as a rotating center, and a headcover which has a link mechanism and engages with a cam surface of thesaid circular cam, rotates and moves by regarding a center of the saidcircular cam as a rotating center and supports rotatably an axis for thepurpose of attaching the working member, and the driving mechanism isconstituted by a sun gear, a first planet gear which engages with thesaid sun gear and is connected with the circular cam forming the workinghead, a second planet gear which engages with the said sun gear and isconnected to the head cover forming the working head through a linkmechanism, and the cutting controlling mechanism is constituted by aninner teeth gear which engages with the second planet gear and isconstituted rotatably and a driving means for driving the said innerteeth gear, and further the driving means is constituted by disposing apiston performing a straight reciprocation in the casing, a shaft whichengages with the said piston and converts a straight motion of the saidpiston into the rotating motion, a rotating and moving member forrotating and driving the said piston by engaging with the said piston, aregulating member for regulating the stroke limit of the said piston bycoming into contact with the said piston in company with a fact that thesaid rotating and moving member is formed so as to be able to rotate,move and fix in regard to the casing.

According to the above-mentioned present invention, while the workingmember including most suitable wire brush, grinder, milling cutter andthe like in response to the works of the purpose is rotating byregarding the axial line of the said working member as a center, thesaid working member is moved along the inside of pipe, and it ispossible that a fixed working is performed toward the inner wall by thismovement. Therefore, it is possible that the different works includingcleaning work, grinding work, cutting work, severance work and the likeare performed by one processing apparatus, the said cleaning workincludes a removal of adhesive matter toward the inner wall of pipe oran exclusion of rust and the like.

That is to say, when the first planet gear and the second planet gearare driven by driving the sun gear constituting the driving mechanism, acircular cam connected with the first planet gear rotates with a fixedvelocity in the fixed direction by regarding an axial center of theinside processing apparatus as a rotating center, simultaneously a linkmechanism is constituted in the head cover, and the rotating velocitywhich is identical with the rotating velocity of the circular cam istransmitted through an arm connected with the second planet gear and alink plate. Consequently, without a generation of sliding between thecircular cam and the head cover, the rotation of the head cover isperformed with the same velocity in the same direction by regarding theaxial center of the inside processing apparatus as a rotating center.Therefore, it is possible that the shaft which is supported by the headcover and installs the working member is rotated in the circumferentialdirection by regarding an axial center of the inside processingapparatus as a center.

By means of the driving means constituting the cutting controllingmechanism in the driving of the sun gear, when the inner teeth gearwhich is constituted rotatably and engages with the second planet gearis driven, a revolution velocity of the second planet gear changes inkeeping with a rotation of the inner teeth gear, a relative velocitydifference is generated between the second planet gear and the firstplanet gear.

Namely, the circular cam connected with the first planet gear rotateswith a fixed velocity in a fixed direction by regarding an axial centerof the inside processing apparatus as a rotating center andsimultaneously a revolution velocity of the second planet gear istransmitted in the head cover through an arm and a link plate. At thistime, a crossing angle between an arm and a link plate changes inresponse to the revolving velocity difference between the first plantgear and the second planet gear as well as the head cover rotates andmoves by regarding the center of circular cam as a rotating center.Therefore, a center of the circular cam is displaced on thecircumference of a circle which an axial center of the inside processingapparatus is regarded as the rotating center, and simultaneously aposture of the head cover changes as regulated by a crossing anglebetween a central position of the circular cam and an arm and a linkplate. At this time, in order that the moving direction of the headcover may be restricted by the link mechanism, it is possible that theworking member is moved in the radial direction by regarding an axialcenter of the inside processing apparatus as a center.

Also, when the inner teeth gear is driven by the driving means within astate which the sun gear is not driven, the first planet gear maintainsa state which the revolution is stopped and the second planet gear onlyrevolves with regard to the circumference of the sun gear. Namely, thehead cover rotates and moves in a state which the circular cam isstopped. Therefore, the rotation is transmitted in the head coverthrough an arm and a link plate. At this time, since a position of therotating center (a center of the circular cam) of the head cover isfixed, a crossing angle between an arm and a link plate changes by therotating force transmitted through an arm, and simultaneously the headcover rotates and moves by regarding the center of the circular cam asthe rotating center. At this time, the working member moves in theradial direction of the inside processing apparatus.

As mentioned above, a movement to the radial direction of the workingmember is not a straight movement, and becomes a movement having spiralshape which is formed by compounding a rotation and a movement which areregarded an axial center of the inside processing apparatus as a centerand a straight movement which is regulated by a link mechanism.

In this way, in the case which the inner teeth gear is driven at a timewhich the sun gear is not driven, it is possible that a distance betweenan axial center of the inside processing apparatus and a working memberattached to the processing head is instituted. Namely, it is possiblethat an initial radius of the working member in response to a diameterof pipe is instituted. Also, in the case which the inner teeth gear isdriven at the driving time of the sun gear, it is possible that a depthof disfunction or cutting toward the inner wall of pipe in accordancewith the said working member is instituted while the working member ismoved in the direction of the circumference of a circle.

By establishing a quantity of revolution and a rotating velocity(rotating angle, rotating velocity) of the said inner teeth gearpreviously by means of the driving means, it is possible that anapproaching distance or a cutting depth and an approaching velocity or acutting velocity toward the inner wall of pipe in accordance with theworking member are instituted with a desirable value.

BRIEF DESCRIPTION OF THE DRAWING

FIG. 1 is a side explanatory view of the inside processing apparatus inthe present invention.

FIG. 2 is a sectional explanatory view of the inside processingapparatus in the present invention.

FIG. 3 is an explanatory view of the transmitting system of a drivingforce in the present invention.

FIG. 4 is an explanatory view of construction of the working head in thepresent invention.

FIG. 5 is an explanatory view of operation of the working head in thepresent invention.

FIG. 6 is a sectional explanatory view of driving means of the innerteeth gear in the present invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

In the FIG. 1, an inside processing apparatus is indicated as anapparatus for cutting a groove in a fixed position of inside pipeline 60constituted by a concrete pipe.

Consequently, a truck 10 which is in contact with an inner wall of thepipeline 60 and is drawn by cables 70a and 70b is arranged. In the truck10, a bracket 11 is formed in the front (cable 70b side in the drawingan so forth), also a bracket 12 is formed in the rear (cable 70a side inthe drawing and so forth).

In the above-mentioned truck 10, a working head 20 which is furnishedwith a milling cutter as the working member 20a, a driving mechanism 30,a cutting controlling mechanism 40 are constituted integrally and areloaded in the bracket 11 movably in the front and rear directions. Afeed mechanism 50 is constituted by an oil pressure cylinder, and a rodadheres to an expanding diameter portion 31a of the driving mechanism 30in company with a fact that the said cylinder adheres to the bracket 12.Therefore, by a fact that a pressure oil is supplied in the feedmechanism 50, it is possible that the above-mentioned respectivemechanisms 20-40 constituted integrally are moved in the front and reardirections.

A bracket 11 which is formed at the truck 10 is provided with pluraloutriggers 80. The outriggers 80 acting as a fixing means areconstituted by an oil pressure cylinder and are arranged at three placeswith a distance of 120° for example in the outer circumference of thebracket 11. Therefore, in accordance with coming into operation bysupplying the pressure oil to the plural outriggers 80 simultaneously,when the inside processing apparatus is secured to the pipeline 60, atthe same time it is possible that an axial center of the said insideprocessing apparatus is consistent with an axial center of the pipelines60.

In the present enforcement example, the truck 10 is constituted so as tobe able to draw by the cables 70a and 70b, it is possible that the saidtruck is constituted too as a self-propelled truck by arranging a wheelin company with installing the driving motor in the truck 10.

In the next place, the construction of the inside processing apparatusis explained concretely in accordance with FIG. 2-FIG. 5.

The driving mechanism 30 consists of a case body 31 which is inserted inthe bracket 11 of the truck 10, a motor 32 including an oil pressuremotor, an induction motor and the like which become the driving source,the said driving source is secured at the end of rear side of this casebody 31, a shaft 33 which a rotating drive is performed by a motor 32 inaccordance with installing rotatably in the case body 31, and adifferential gear mechanism 34 which is disposed within an expandingdiameter portion 31a formed at the end of the rear side of the case body31. The shaft 33 is disposed in concert with an axial center of theinside processing apparatus.

The said shaft 33 and an output axis 32a of the motor 32 are connectedthrough a sleeve coupling 35. A gear portion 33a is formed in the end ofrear side of the shaft 33, and this gear 33a is constituted as the sungear 33a in the differential gear mechanism 34. Also, the rear-mentionedworking head 20 is arranged in the front side of the shaft 33.

The differential gear mechanism 34 is constituted by the two planet gearmechanisms. Namely, the first planet mechanism is constituted by aninner teeth gear 34a which is secured in the expanding diameter portion31a, a first planet gear 34b which engages with the sun gear 33a incompany with a fact which engages with this inner teeth gear 34a, and anoutside sleeve 34c which installs firmly a shaft 34', the said shaft34c' supports this first planet gear 34b rotatably. Further, the secondplanet gear mechanism is constituted by an inner teeth gear 34d which isdisposed rotatably within an expanding diameter portion 31a, a secondplanet gear 34e which engages with the sun gear 33a in company with afact which engages with this inner teeth gear 34d and an inside sleeve34f which installs firmly a shaft 34f', the said axis 34f' supports thissecond planet gear 34e rotatably. The above-mentioned inner teeth gears34a and 34d consist of the same module and the same number of teeth andalso each planet gear 34b, 34e consists of the same module and the samenumber of teeth. Also, a gear 45 is engaged with the inner teeth gear34d constituting the second planet mechanism, the said gear 45 isattached to the driving shaft 44 of the driving means which constitutesthe cutting controlling mechanism 40.

The outside sleeve 34C is disposed on the same axis as an axis of theshaft 33, and is supported in the case body 31 rotatably through thebearing 36. The inside sleeve 34f is arranged between the outside sleeve34c and the shaft 33, and is supported rotatably by the bearing 37 whichis installed to the shaft 33. Namely, the outside sleeve 34c is insertedin the case body 31 through the bearing 36, the inside sleeve 34f isinserted in this outside sleeve 34c, and further the shaft 33 isinserted in the inside sleeve 34f. And each sleeve 34c, 34f and theshaft 33 are constituted so as to be able to rotate independentlyrespectively.

The working head 20 is constituted by a case 21 and a gear mechanism 22which is installed in this case 21.

The case 21 is constituted by a circular cam 21b which is installedfirmly to the outside sleeve 34c constituting the first planet gearmechanism, an arm 27 which is installed firmly to the inside sleeve 34fand is inserted by the circular cam 21b and a head cover 21a which isconnected with the second planet gear mechanism through a link mechanismconstituted by a link plate 28.

The bearing portion 21a' for supporting a shaft 24 installing a workingmember 20a is formed in a fixed position of the head cover 21a, and thelink plate 28 is installed to this bearing portion 21a' rotatably andmovably.

The circular cam 21b has a center 21b' at the position which a fixeddistance is separated from an axial center of the shaft 33 namely anaxial center of the inside processing apparatus and the said cam 21brotates and moves by regarding an axial center of the shaft 33 as acenter with a fixed ration of rotation in keeping with the rotation ofthe shaft 33.

The gear mechanism 22 is constituted by a gear 23 which is installedfirmly to an end of front side of the shaft 33, a gear 25 which isinstalled firmly to the shaft 24 which is supported rotatably to thehead cover 21a and a middle gear 26 which is engaged with the said gears23 and 25.

Therefore, when the shaft 33 is driven, this rotation is transmitted tothe shaft 24 through the gear mechanism 22, and a fixed working isperformed by rotating the working member 20a which is installed on thesaid shaft 24.

The said middle gear 26 is supported on a shaft 26a rotatably, also theshaft 26a is supported to the arm 27 rotatably, the said arm 27 isinstalled firmly to the end of front side of the inside sleeve 34fconstituting the second planet gear mechanism. Further, the shaft 26a issupported to the link plate 28 rotatably and movably, the said linkplate 28 is installed in the bearing portion 21a' rotatably and movably.Beside, the arm 27 is constituted so as to regulate the rotating andmoving direction by a stopper 29 which is installed firmly to thecircular cam 21b.

The cutting controlling mechanism 40 is fixed to a base 31b which isarranged in the end of rear side of the case body 31. Considering thecutting controlling mechanism 40, it is possible that an oil pressuremotor, an induction motor and the like having the detecting means of apulse motor, a rotary encoder and the like are used, the said pulsemotor, the said rotary encoder and the like are capable of controllingthe quantity of rotation of the driving shaft 44.

In the present enforcement example, a rotary actuator which isconstituted as shown in FIG. 6 is used as the cutting controllingmechanism 40.

In the same drawing, a piston 42 which a straight reciprocation and arotating movement are possible in the front and rear directions, arotating and moving member 43 which rotates and moves the piston 42, thedriving shaft 44 which rotates and moves in keeping with a straightmovement and a rotating movement of the piston 42, a bearing member 46supporting the driving shaft 44 rotatably and movably, and a regulatingmember 47 which is inserted in the rotating and moving member 43 andregulates the stroke limit of the piston 42 are arranged respectively inthe casing 41.

In a fixed position of the casing 41, ports 41a and 41b for supplying orexhausting the pressure oil in the said casing 41 are arranged. Also, aslit 41c is formed in the end of rear side of the casing 41 andcontracting member 41d, the rotating and moving member 43 is fixed inthe casing 41 by constricting the slit 41c by means of this bolt, and afixation of the rotating and moving member 43 is released by looseningthe bolt, and then the said rotating and moving member 43 is constitutedso as to be able to rotate and move.

The piston 42 is formed in a cup-shape having a flange 42a. Also, aspline 42b is formed in the outer circumference of the piston 42, and ascrew, or threaded portion 42c having a fixed pitch is formed in theinner circumference.

A hole 43a for inserting and combining the regulating member 47 in thecenter of the rotating and moving member 43 is formed, and a spline 43bengaging with the spline 42b formed in the piston 42 is formed in thefront side. Also, a chamfering portion 43c having nut-shape is formed inthe outer circumference of the end of rear side of the rotating andmoving member 43, and a screw portion 43d is formed in the innercircumference of the said chamfering portion 43c.

A gear 45 engaging with the inner teeth gear 34d is attached to thefront side 44a of the driving shaft 44. A projection 44b having flangeshape is formed over whole circumference in a fixed position of thedriving axis 44, and the driving axis 44 is restricted by the bearingmember 46 and a cap 41e which is attached to the end of front side ofthe casing 41. Therefore, the driving axis 44 is constituted so as to beable to rotate with movement in regard to the axial direction. Athreaded portion 44c engaging with the threaded portion 42c which isformed with the piston 42 is formed in the rear side of the drivingshaft 44.

A threaded portion 47a engaging with the threaded portion 43d which isformed in the rotating and moving member 43 is formed in the rear sideof the regulating member 47, and the chamfering portion 47b is formed inthe end of rear side by continuing with this screw portion 47a. Also, alock nut 47c is screwed and combined in the threaded portion 47a.

Considering the rotary actuator which is constituted as mentioned above,when the rotating and moving member 43 is rotated and moved by looseningthe contracting member 41d and engaging a spanner with the chamferingportion 43c of the rotating and moving member 43, this rotation andmovement is transmitted to the piston 42 through the splines 43b and 42band then the said piston 42 is rotated and moved. And, the rotatingmovement of the piston 42 is transmitted to the driving shaft 44 throughthe screw portions 42c and 44c and rotates and moves the said drivingshaft 44. Consequently, the gear 45 which is attached to the drivingshaft 44 rotates and moves, and the inner teeth gear 34d is rotated andmoved. Therefore, it is possible that the gear 45 is rotated and movedfreely in keeping with the rotating movement of the rotating and movingmember 43, and it is possible that the initial radius is instituted bymoving the working member 20a to the radial direction by means of therotating movement of this rotating and moving member 43.

Also, by constricting the contracting member 41d, when the pressure oilis supplied in the port 41b in company with a fact that the rotating andmoving member 43 is fixed to the casing 41, the piston 42 is restrictedby the splines 42b and 43b, and the said piston moves to the front ofthe axial direction (right direction in the drawing). The straightmovement of this piston 42 is converted into the rotating movement ofthe driving shaft 44 by the threaded portions 42c and 44c. Therefore, aquantity of rotating movement of the driving shaft 44 is regulated by astroke of the piston 42 and a pitch of the threads in the threadedportions 42c and 44c.

It is possible that the stroke of the piston 42 is regulated by theregulating member 47 which is inserted and combined in the rotating andmoving member 43.

Namely, when the regulating member 47 is rotated and moved by looseningthe lock nut 47c and engaging the spanner with the chamfering portion47B, the said regulating member 47 moves to the axial direction byscrewing and combining of the threaded portions 47a and 43d. Therefore,it is possible that the stroke of the piston 42 is regulated byprojecting the regulating member 47 in the casing 41 from the rotatingand moving member 43. When the stroke of the piston 42 is regulated asmentioned above, a quantity of rotation of the gear 45 is established,and consequently it is possible that a quantity of movement to theradial direction of the working member 20a is established.

In the next place, the explanations with regard to the operations of theworking head 20, the driving mechanism 30 and the cutting controllingmechanism 40 which are constituted as mentioned above are performed.

In the first place, before the inside processing apparatus is insertedin the pipeline 60, the working member 20a which is suitable to the workgiven to the said pipeline 60 is selected and this working member 20a isinstalled on the shaft 24 which is arranged in the working head 20. And,the initial radius of the working member 20a is established in responseto the inside diameter of the pipeline 60.

This establishment rotates and moves the rotating and moving member 43in the cutting controlling mechanism 40 at the state cutting controllingmechanism 40 at the state which the motor 32 is and it is possible thatthe said establishment is performed by rotating and moving the innerteeth gear 34d and the second planet gear mechanism. Namely, when thearm 27 rotates and moves in the B direction of an arrow by regarding theshaft 33 as a center by means of the rotating movement of the secondplanet gear mechanism in the FIG. 4, an intersecting angle between thesaid arm 27 and the link plate 28 changes by the rotating movement ofthis arm 27 as well as the head cover 21a is rotated and moved in the Bdirection of an arrow by regarding the center 21' of the circular cam21b as a center. Since a distance between the working member 20a and theshaft 33 is segregated in keeping with a change of the intersectingangle in the link mechanism and the rotating movement of the head cover21a, it is possible that the said working member 20a is moved in theradial direction of the pipeline 60. At this time, the initial radius isestablished in order that a distance between the outer circumference ofthe working member 20a and the inner wall of the pipeline 60 may becomea fixed value.

Secondly, a cutting depth of the working member 20a in response to thedepth of groove which should be formed by cutting in the pipeline 60 isestablished. In this establishment, in response to a value which adistance between the inner wall of the pipeline 60 and the outercircumference of the said working member 20a in the establishing time ofthe initial radius of the working member 20a and a depth of the grooveto be formed are added, the stroke of the piston 42 in the cuttingcontrolling mechanism 40 is established. Therefore, the rotating andmoving member 43 is fixed in the casing 41, the regulating member 47 inthe casing 41 is established properly and then the stroke of the piston42 is regulated.

In this way, when a moving limit is obtained by moving the said piston42 in the casing 41 by means of regulating the stroke of the piston 42,it is possible that a groove having a fixed depth is processed in thepipeline 60 by the working member 20a.

Next, as mentioned above, the inside processing apparatus which theinitial radius and the cutting depth and the like of the working member20 are established is inserted in the pipeline 60, and the said insideprocessing apparatus is pulled until the position which a grooveestablished previously by the wires 70a and 70b is formed. And, byoperating the outrigger 80 when the inside processing apparatus reachesto a fixed position, the fixation is performed by causing an axialcenter of the said inside processing apparatus to coincide with theaxial center of the pipeline 60.

Next, the motor 32 is driven. The driving force of the motor 32 istransmitted in accordance with the system diagram as shown in FIG. 3,and the solar gear 33a rotates, the working member 20a rotates as wellas the first planet gear mechanism and the second planet gear mechanismare rotated at the same velocity respectively. Therefore, the circularcam 21b which constitutes the first planet gear mechanism and the arm 27which constitutes the second planet gear mechanism rotate at the samevelocity by regarding the shaft 33 as a center. For the purpose of this,the working member 20a rotates at the state which is maintaining theinitial radius established previously by regarding the shaft 33 as acenter.

When the pressure oil is supplied in the port 41a or 41b at theabove-mentioned state, the piston 42 moves in the direction of left orright in the casing 41. The gear 45 rotates in keeping with thismovement, and the inner teeth gear 34d is rotated and moved. At thistime, in order to produce the relative difference of velocity betweenthe first planet gear mechanism and the second planet gear mechanism,the variation of the intersecting angle between the arm 27 and the linkplate 28 and the rotation which the circular cam 21b is regarded as acenter are generated. For the sake of this, since these operations arecompounded, a distance between the working member 20a and the shaft 33varies, and then the initial radius of the said working member 20avaries.

In the FIG. 6, an operation of the working head 20 in the time which thedifferential motion is given to the differential gear mechanism 34 isindicated typically by regarding the shaft 33 (gear 23) as a center andfixing the shaft 33 and the middle gear 26. In the drawing of FIG. 6, asolid line indicates a state of the time which the initial radius isestablished in the working member 20a, and a chain line of two pointsindicates a state of the time which the working member 20a is convertedinto the working radius by moving the piston 42.

As mentioned above, after a fixed cutting is performed on the inner wallof the pipeline 60 by the working member 20a, when the supply of thepressure oil to the cutting controlling mechanism 40 is intercepted,since the gear 45 is locked by the driving shaft 44, the inner teethgear 34d is fixed. Therefore, the first planet gear mechanism and thesecond planet gear mechanism rotate at the same velocity respectively,it is possible that a fixed groove is processed by cutting while theworking member 20a is moved along the inner wall of the pipeline 60.

After the working member 20a makes one revolution along the inner wallof the pipeline 60 and a fixed groove is processed in the said innerwall, when the pressure oil is supplied to the port 41b or 41a which isopposite to the time of cutting while the solar gear 33a is rotated orstopped, the piston 42 moves to the direction of right or left withinthe casing 41. In keeping with this movement, the gear 45 rotates andthen the inner teeth gear 34d is transmitted to the head cover 21a andthe said cover 21a is rotated by regarding a center 21b' of the circularcam 21b as a center, the working member 20a is shunted to the positionof the initial radius.

Subsequently, when the outrigger 80 is shunted, the fixation in regardto the pipeline 60 is released in the inside processing apparatus.Thereafter, it is possible that a groove is processed by cutting in theinner wall of the pipeline 60 by using a milling cutter as the workingmember 20a is performed, but for example in the case which a root oftree and the like invaded in the pipeline 60 are cut, it is satisfactorythat a cutter for cutting is installed to the shaft 24, and also in thecase which the inner wall of the pipeline 60 is cleaned, it issatisfactory that a wire brush or a grinder and the like as the workingmember 20a are installed to the shaft 24. Further, in the case which thepipeline 60 is cut, it is satisfactory that a discord cutter and thelike as the working member 20a are installed to the shaft 24.

Also, in the above mentioned enforcement example, the construction isperformed so as to rotate the working member 20a by transmitting thedriving force of the motor 32 to the shaft 24 through the shaft 33 andthe gear mechanism 22, but it is satisfactory too that the constructionif performed so as to be able to drive singly the working member 20a byconnecting an exclusive motor to the shaft 24. In this case, it ispossible too that an axis of the rotation of the working member 20a isestablished in the direction intersecting straightly with the axis ofthe pipeline 60.

Besides, in the said enforcement example, an explanation with regard tothe case which a groove is processed by cutting in the water pipe isperformed, but it is possible too that the inside processing apparatusin accordance with the present invention is used on the occasion whichthe cylindrical processing including a cutting processing, a grindingprocessing and the like is given to the cylindrical inner surface suchas oil pressure cylinder, air cylinder, engine block and the like forexample.

What is claimed:
 1. An inside processing apparatus which defines anaxial center, comprising:a working head having a working member forperforming operations on an inner wall of a pipe; a driving mechanismfor moving said working member in a circumferential direction withrespect to the inner wall; and a cutting controlling mechanism foradjustably moving said working head in a radial direction with respectto the inner wall; wherein said working head comprises a circular camhaving a center at a fixed distance from the axial center of the insideprocessing apparatus, said circular cam being rotatable around the axialcenter, and a head cover having a link mechanism, said head coverengaging with a cam surface of said circular cam and being rotatableabout the center of said circular cam, said head cover rotatablysupporting a shaft on which the working member is attached, and whereinsaid driving mechanism comprises a sun gear, a first planet gearconnected with the circular cam, said first planet gear engaging withsaid sun gear in the working head, and a second planet gear whichengages with said sun gear and is connected with the head cover in theworking head through the link mechanism.
 2. The inside processingapparatus as defined in claim 1, wherein said cutting controllingmechanism comprises an internal gear in rotating engagement with thesecond planet gear, and a driving means for driving said internal gear.3. The inside processing apparatus as defined in claim 2, wherein saiddriving means comprises a cup-shaped piston having an axis, said pistonbeing axially movable and rotatable on said axis, a driving shaft havingan axis and a circumferential face, a threaded area of thecircumferential face engaging with a threaded internal face of thecup-shaped piston, whereby said driving shaft is rotatable on its axisduring an axial movement of the cup-shaped piston, a rotary memberhaving an area in engagement with an outer portion of the cup-shapedpiston, whereby the rotary member can drive the cup-shaped piston, acasing accommodating the cup-shaped piston, the shaft and the rotarymember, and a means for securing said rotary member to said casing. 4.The inside processing apparatus as defined in claim 2, wherein saiddriving means comprises a cup-shaped piston having an axis, said pistonbeing axially movable and rotatable on said axis, a driving shaft havingan axis and a circumferential face, a threaded area of thecircumferential face engaging with a threaded internal face of thecup-shaped piston, whereby said driving shaft is rotatable on its axisduring an axial movement of the cup-shaped piston, a rotary memberhaving an area in engagement with an outer portion of the cup-shapedpiston, whereby the rotary member can drive the cup-shaped piston, astroke length regulating means including a limit member for limiting thelength of strokes of said cup-shaped piston, a casing accommodating thecup-shaped piston, the shaft, the rotary member and the stroke lengthregulating means, and a means for securing said rotary member to saidcasing.
 5. The inside processing apparatus as defined in claim 2,further comprising a fixing means for positioning the inside processingapparatus within a pipe such that the axial center of the insideprocessing apparatus coincides with an axis of the pipe, and fixes theinside processing apparatus to the pipe.
 6. The inside processingapparatus as defined in claim 2, further comprising a truck on which theworking head, the driving mechanism and the cutting controllingmechanism are mounted.
 7. The inside processing apparatus as defined inclaim 3, further comprising a fixing means for positioning the insideprocessing apparatus within a pipe such that the axial center of theinside processing apparatus coincides with an axis of the pipe, andfixes the inside processing apparatus to the pipe.
 8. The insideprocessing apparatus as defined in claim 4, further comprising a fixingmeans for positioning the inside processing apparatus within a pipe suchthat the axial center of the inside processing apparatus coincides withan axis of the pipe, and fixes the inside processing apparatus to thepipe.
 9. The inside processing apparatus as defined in claim 3, furthercomprising a truck on which the working head, the driving mechanism andthe cutting controlling mechanism are mounted.
 10. The inside processingapparatus as defined in claim 4, further comprising a truck on which theworking head, the driving mechanism and the cutting controllingmechanism are mounted.